diff --git a/ur_simulation_gazebo/CMakeLists.txt b/ur_simulation_gazebo/CMakeLists.txt
index 4d8e988..8837d98 100644
--- a/ur_simulation_gazebo/CMakeLists.txt
+++ b/ur_simulation_gazebo/CMakeLists.txt
@@ -3,7 +3,7 @@ project(ur_simulation_gazebo)
 
 find_package(ament_cmake REQUIRED)
 
-install(DIRECTORY config launch
+install(DIRECTORY config launch urdf rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/ur_simulation_gazebo/launch/ur_sim_control.launch.py b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
index 44d1a14..83d6205 100644
--- a/ur_simulation_gazebo/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
@@ -41,7 +41,7 @@
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-
+from launch_ros.descriptions import ParameterValue
 
 def launch_setup(context, *args, **kwargs):
 
@@ -100,7 +100,7 @@ def launch_setup(context, *args, **kwargs):
             initial_joint_controllers,
         ]
     )
-    robot_description = {"robot_description": robot_description_content}
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
 
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
@@ -226,7 +226,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="ur_description",
+            default_value="ur_simulation_gazebo",
             description="Description package with robot URDF/XACRO files. Usually the argument \
         is not set, it enables use of a custom description.",
         )
@@ -234,7 +234,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_file",
-            default_value="ur.urdf.xacro",
+            default_value="ur_gazebo_classic.urdf.xacro",
             description="URDF/XACRO description file with the robot.",
         )
     )
diff --git a/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py b/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
index 4e02a03..36ba5e3 100644
--- a/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
@@ -79,6 +79,7 @@ def launch_setup(context, *args, **kwargs):
             "prefix": prefix,
             "use_sim_time": "true",
             "launch_rviz": "true",
+            "use_fake_hardware": "true", #to get regular JTC instead of scaled JTC. What are the other consequences?
         }.items(),
     )
 
@@ -127,7 +128,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
-            default_value="ur_description",
+            default_value="ur_simulation_gazebo", # TODO: UNTANGLE DEPS -> ur_moveit_config passes explicit joint limits, kinematics params, etc to the .urdf.xacro (probably for calibration, etc.) Do we duplicate all of the defaults?
             description="Description package with robot URDF/XACRO files. Usually the argument \
         is not set, it enables use of a custom description.",
         )
@@ -135,7 +136,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_file",
-            default_value="ur.urdf.xacro",
+            default_value="ur_gazebo_classic.urdf.xacro",
             description="URDF/XACRO description file with the robot.",
         )
     )
diff --git a/ur_simulation_gazebo/rviz/view_robot.rviz b/ur_simulation_gazebo/rviz/view_robot.rviz
new file mode 100644
index 0000000..a7bcd29
--- /dev/null
+++ b/ur_simulation_gazebo/rviz/view_robot.rviz
@@ -0,0 +1,196 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 1096
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link_inertia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.493516445159912
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0457618348300457
+        Y: -0.07058511674404144
+        Z: 0.49734944105148315
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.15039828419685364
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5353983640670776
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1379
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2560
+  X: 0
+  Y: 30
diff --git a/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro b/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro
new file mode 100644
index 0000000..9bf17cc
--- /dev/null
+++ b/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro
@@ -0,0 +1,86 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+    <!-- robot name parameter -->
+    <xacro:arg name="name" default="ur"/>
+    <!-- import main macro -->
+    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
+    <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e -->
+    <!-- the default value should raise an error in case this was called without defining the type -->
+    <xacro:arg name="ur_type" default="ur5x"/>
+
+    <!-- parameters -->
+    <xacro:arg name="tf_prefix" default="" />
+    <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
+    <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
+    <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
+    <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
+    <xacro:arg name="transmission_hw_interface" default=""/>
+    <xacro:arg name="safety_limits" default="false"/>
+    <xacro:arg name="safety_pos_margin" default="0.15"/>
+    <xacro:arg name="safety_k_position" default="20"/>
+    <xacro:arg name="simulation_controllers" default="" />
+
+    <!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
+    <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
+
+    <!-- convert to property to use substitution in function -->
+    <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
+
+    <!-- create link fixed to the "world" -->
+    <link name="world" />
+    <!-- 
+         After #52 this will be less verbose 
+         since read_model_data will be seperate from ur_robot
+         and we can modify just the properties we need
+     -->
+    <xacro:property name="jnt_limits_file" value="$(arg joint_limit_params)"/>
+    <xacro:property name="jnt_limits"
+      value="${xacro.load_yaml(jnt_limits_file)['joint_limits']}"
+    />
+    <xacro:property name="fric_scale" value="100.0" />  
+    <xacro:property name="joint_dyn_dict"
+      value="${dict(
+          joint_dynamics=dict(
+              shoulder_pan_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['shoulder_pan_joint']['max_effort']),
+              shoulder_lift_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['shoulder_lift_joint']['max_effort']),
+              elbow_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['elbow_joint']['max_effort']),
+              wrist_1_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_1_joint']['max_effort']),
+              wrist_2_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_2_joint']['max_effort']),
+              wrist_3_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_3_joint']['max_effort'])))}"
+    />
+    <param name="blah" value="${joint_dyn_dict}" />
+    
+    
+    <!-- arm -->
+    
+    <xacro:ur_robot
+      name="$(arg name)"
+      tf_prefix="$(arg tf_prefix)"
+      parent="world"
+      safety_limits="$(arg safety_limits)"
+      safety_pos_margin="$(arg safety_pos_margin)"
+      safety_k_position="$(arg safety_k_position)"
+      joint_limits_parameters_file="$(arg joint_limit_params)"
+      kinematics_parameters_file="$(arg kinematics_params)"
+      physical_parameters_file="$(arg physical_params)"
+      visual_parameters_file="$(arg visual_params)"
+      joint_dynamics="${joint_dyn_dict}"
+      transmission_hw_interface=""
+      sim_gazebo="true"
+      initial_positions="${xacro.load_yaml(initial_positions_file)}"
+      >
+      <origin xyz="0 0 0.05" rpy="0 0 0" />  
+    </xacro:ur_robot>
+    
+
+    <!-- Gazebo plugins -->
+    <gazebo reference="world">
+    </gazebo>
+    <gazebo>
+      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <parameters>$(arg simulation_controllers)</parameters>
+      </plugin>
+    </gazebo>
+
+</robot>